ランバッカー スティーヴン ジョージ   LAMBACHER, Stephen G.   LAMBACHER, Stephen G    所属   青山学院大学  社会情報学部 社会情報学科    職種   教授
言語種別	英語
発行・発表の年月	2008/12
形態種別	その他
標題	Development of a social learning mechanism for a humanoid robot
執筆形態	共同
巻・号・頁	pp.243-248
著者・共著者	P. Ravindra ; Toyota Technol. Inst., Toyota ; S. De Silva ; Tohru Matsumoto ; Stephen G. Lambacher
概要	A main purpose of humanoid robotic research is to develop a socially interactive robot by providing for a certain degree adaptability and flexibility in order to endow the robot with natural interactions with humans. In this paper, a social learning mechanism is proposed for enabling a humanoid robot to learn social behaviors through imitation. To achieve this goal, a novel imitation algorithm is proposed for transferring human social behaviors into a robot in real time. This approach considers the characteristic of motions for extracting symbolic postures, which consists of changing the points of motion directions. Reinforcement learning is utilized for extracting optimal symbolic postures and for incorporating the divisional cubic spline interpolation for generating a robotpsilas social behaviors through symbolic postures. In our experiment, we attempt to transfer three social cues: a ldquopointing gesture,rdquo a gesture for ldquoexplaining something attractively,rdquo and a gesture for expressing ldquoI donpsilat know.rdquo The experimental results confirmed the accuracy of the robot motion generation through the proposed mechanism for transferring natural social behaviors.